CN110645992B - Navigation method and device - Google Patents
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- CN110645992B CN110645992B CN201911085187.9A CN201911085187A CN110645992B CN 110645992 B CN110645992 B CN 110645992B CN 201911085187 A CN201911085187 A CN 201911085187A CN 110645992 B CN110645992 B CN 110645992B
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Abstract
The embodiment of the application provides a navigation method and a navigation device, and relates to the technical field of robots. The method comprises the following steps: acquiring a first current position and a first target position where a following robot is located, and acquiring a first path from the first current position to the first target position; receiving a second current position and a second target position of the target robot in the same network environment, and acquiring a second path of the target robot according to the second current position and the second target position; and comparing the first path with the second path, when the second path meets the following condition, planning the current path of the following robot according to the second path of the corresponding target robot, and solving the problems of higher cost, high risk and lower efficiency of the conventional navigation method by judging the robots meeting the following condition under the same network environment and following.
Description
Technical Field
The application relates to the technical field of robots, in particular to a navigation method and a navigation device.
Background
The existing multi-robot navigation method mainly comprises two methods: one is to adopt a centralized scheduling mode, namely uniformly schedule the running routes of all robots through a central server, but has no deployment condition in many daily scenes such as hotels and has higher cost; the other is that each robot is self-guided, and other robots are used as dynamic obstacles for navigation, and the robot in the method is easy to collide with other robots, so that the problem of high danger and low efficiency is caused.
Disclosure of Invention
An object of the embodiments of the present application is to provide a navigation method and apparatus, which determine and follow a robot that satisfies a following condition in the same network environment, so as to solve the problems of a conventional navigation method that the cost is high, the risk is high, and the efficiency is low.
The embodiment of the application provides a navigation method, which comprises the following steps:
acquiring a first current position and a first target position where a following robot is located, and acquiring a first path from the first current position to the first target position;
receiving a second current position and a second target position of the target robot in the same network environment, and acquiring a second path of the target robot according to the second current position and the second target position;
and comparing the first path with the second path, and planning the current path of the following robot according to the second path of the corresponding target robot when the second path meets the following condition.
In the implementation process, the target robot in the same network environment sends the second current position and the second target position of the target robot to the outside, the following robot receives the second current position and the second target position, determines a second path according to the second current position and the second target position, compares the first path and the second path of the target robot, switches to a following mode when the following condition is met, and plans the current path of the target robot according to the second path of the target robot meeting the following condition.
Further, the method further comprises:
periodically receiving a second current position and a second target position of the target robot;
acquiring a second path of the target robot according to the second current position and a second target position;
and comparing the first path with the second path, and switching to an autonomous navigation mode when the second path does not meet a following condition.
In the implementation process, after the following robot enters the following mode, the following robot throws away and periodically receives the second current position and the second target position of the target robot, namely the followed robot, determines the current second path of the target robot according to the second current position and the second target position, compares the first path with the second path, and when the second path is not full of the following condition of the heel random robot, the following robot is switched to the autonomous navigation mode, so that the free switching between the following mode and the autonomous navigation mode is realized.
Further, the comparing the first path with the second path, and when the second path satisfies a following condition, planning a current path of the following robot according to the second path of the corresponding target robot includes:
periodically receiving a second current position of a followed robot, wherein the followed robot is a target robot corresponding to a second path meeting the following condition;
and switching the second current position to be the current target position of the following robot, and planning the current path of the following robot according to the first current position and the current target position.
In the implementation process, after the following robot enters the following mode, the following robot regularly receives the second current position of the followed robot, the second current position is used as the current target position of the following robot, the current path of the following robot is planned according to the first current position and the current target position, the following function of the following robot is achieved, the following robot is prevented from colliding with the followed robot, the navigation efficiency is improved, the safety is enhanced, and the safe and efficient navigation of multiple robots in the same network environment is achieved.
Further, before the step of receiving a second current position and a second target position of the target robot in the same network environment and acquiring a second path of the target robot according to the second current position and the second target position, the method further comprises:
establishing an airway map;
marking waypoints in the route map;
when the second current position and the second target position are received, a second path of the target robot is determined according to the waypoint between the second current position and the second target position.
In the implementation process, the navigation map is established, so that the multiple robots in the same network environment use the same navigation map, and the paths of the corresponding robots can be determined according to the current positions and the target positions as long as the current positions and the target positions of other surrounding robots are received, thereby avoiding the flow waste caused by the fact that the multiple robots simultaneously send the current positions, the target positions and the paths outwards, and improving the transmission efficiency.
Further, the comparing the first path with the second path, and when the second path meets a following condition, planning a current path of the following robot according to the second path includes:
acquiring the distance between the first current position and the second current position, the length of the second path and the minimum distance from the first path to the second path;
judging whether the conditions that the distance between the first current position and the second current position is smaller than a first preset threshold value, the length of the second path is larger than a second preset threshold value, the target robot is in front of the following robot and consistent with the motion direction of the following robot, and the minimum distance from the first path to the second path is smaller than a third preset threshold value are met simultaneously;
if so, planning the current path of the following robot according to the second path.
In the implementation process, because the following robots simultaneously receive the second current positions and the second target positions of a plurality of target robots around the same network environment, the following robot needs to judge which second path of the robot meets the following conditions of the following robot according to the following conditions so as to realize following; the purpose that the distance between the first current position and the second current position is smaller than the first preset threshold value is to limit the distance between the following robot and the followed robot, and if the distance is too far, other target robots may exist between the following robot and the followed robot, and collision may occur; the length of the second path is greater than the second preset threshold value, so that a section of path closest to the following robot is conveniently followed and intercepted for comparison and following, and whether the following condition is met or not is conveniently judged; the following robot is consistent with the movement direction of the target robot, and the minimum distance from the first path to the second path is smaller than a third preset threshold value, so that the followed robot can move in front of and near the following robot and can be followed.
Further, the judging whether the conditions that the target robot is in front of the following robot and is consistent with the motion direction of the following robot and the minimum distance from the first path to the second path is less than a third preset threshold value are met includes:
intercepting a second path segment which takes a second current position as an end point and takes the length as a fourth preset threshold value, and respectively marking the second current position and a waypoint at the tail end of the second path segment as a third waypoint and a fourth waypoint;
acquiring a first path segment on a first path which is closest to the second path segment, and marking the starting and ending points of the first path segment as a first waypoint and a second waypoint;
when the vector < the first current position, the vector < the third waypoint >, < the third waypoint, the fourth waypoint > and the vector < the first waypoint, the second waypoint > respectively form an included angle with the following robot along the advancing direction of the first path which is less than 90 degrees and more than or equal to 0 degree, the target robot is judged to be in front of the following robot and consistent with the motion direction of the following robot;
and when the distance from the first waypoint to the third waypoint and the distance from the second waypoint to the fourth waypoint are both smaller than a third preset threshold value, judging that the minimum distance from the first path to the second path is smaller than a third preset threshold value.
In the implementation process, the path of the following robot following the target robot is not the whole path but a certain path, so that the matching efficiency can be improved by intercepting and comparing one section of the path; when the included angles between the four vectors and the following robot along the advancing direction of the first path are smaller than 90 degrees and larger than or equal to 0 degree, the target robot is shown to be in front of the following robot, the moving directions of the target robot and the following robot are consistent, and one following condition is met; when the distance from the first waypoint to the third waypoint and the distance from the second waypoint to the fourth waypoint are both smaller than a third preset threshold, the fact that the distance between the first path section and the second path section is smaller than the third preset threshold certainly indicates that the target robot is near the following robot and meets the following condition in terms of distance.
Further, the comparing the first path with the second path, and when the second path satisfies a following condition, planning a current path of the following robot according to the second path of the corresponding target robot, further includes:
and when the second paths of the plurality of target robots meet the following conditions, determining the target robot closest to the following robot as the followed robot.
In the implementation process, when the following robot detects that a plurality of target robots in the same network environment all meet the following condition, the target robot closest to the following robot can be used as the followed robot, so that the following robot can be prevented from colliding with the front robot, and the navigation safety is improved.
By way of example, the present application also provides a navigation device, the device comprising:
the first path acquisition module is used for acquiring a first current position and a first target position where the following robot is located and acquiring a first path from the first current position to the first target position;
the second path acquisition module is used for receiving a second current position and a second target position of the target robot in the same network environment and acquiring a second path of the target robot according to the second current position and the second target position;
and the following judgment module is used for comparing the first path with the second path, and planning the current path of the following robot according to the second path of the corresponding target robot when the second path meets the following condition.
In the implementation process, the following robot acquires a first path of the following robot through the first path acquisition module, acquires second paths of other target robots under the same network environment through the second path acquisition module, judges whether the second paths meet following conditions through the following judgment module, and if the second paths meet the following conditions, the following robot plans a current path of the following robot according to the second paths of the corresponding target robots.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
Fig. 1 is a flowchart of a navigation method according to an embodiment of the present application;
FIG. 2 is a flow chart for establishing a route according to an embodiment of the present application;
fig. 3 is a flowchart illustrating a specific implementation of step S300 according to an embodiment of the present disclosure;
fig. 4 is a specific flowchart for determining whether the conditions that the target robot is in front of the following robot and the movement direction of the following robot is consistent, and the minimum distance from the first path to the second path is smaller than a third preset threshold value are met according to the embodiment of the present application;
FIG. 5 is a schematic diagram of a first path and a second path provided by an embodiment of the present application;
fig. 6 is a flowchart of a method for planning a current path of the following robot according to a second path of a corresponding target robot according to an embodiment of the present application;
fig. 7 is a specific flowchart provided in the embodiment of the present application after the following robot switches to the following mode;
fig. 8 is a block diagram of a navigation device according to an embodiment of the present application;
fig. 9 is a block diagram illustrating a detailed structure of a navigation device according to an embodiment of the present disclosure;
fig. 10 is a detailed block diagram of the follow condition module 322 according to an embodiment of the present disclosure.
Detailed Description
The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
Referring to fig. 1, fig. 1 is a flowchart of a navigation method according to an embodiment of the present disclosure. The method is applied to service robots in occasions such as hotels and the like, the hotels are generally provided with long corridors, the width of the corridors is limited, and collision is easy to occur.
The method may specifically comprise the steps of:
step S100: acquiring a first current position and a first target position where a following robot is located, and acquiring a first path from the first current position to the first target position;
for example, the following robot obtains a first current position and a first target position where the following robot is currently located, and may determine a first path of navigation according to the first current position and the first target position.
Step S200: receiving a second current position and a second target position of the target robot in the same network environment, and acquiring a second path of the target robot according to the second current position and the second target position;
for example, the same network environment may include, but is not limited to, near field communication, UWB (Ultra wide band), cloud sharing, local area network, etc., and the following robot and other target robots around the following robot may share their current position and target position by broadcasting using the same network environment.
Fig. 2 is a flowchart for establishing a route according to an embodiment of the present disclosure. Before the above steps, the method further comprises:
step S210: establishing an airway map;
step S220: marking waypoints in the route map;
step S230: when the second current position and the second target position are received, a second path of the target robot is determined according to the waypoint between the second current position and the second target position.
In the implementation process, the route map is established, so that a plurality of robots in the same network environment use the same route map, all target robots in the same network environment only need to broadcast outwards to share the second current position and the second target position of the robots, the following robots receive the second current position and the second target position, corresponding second paths can be determined according to the route points on the route map, the target robots do not need to broadcast the second paths of the robots outwards, the problem that the plurality of target robots send the second current positions of the robots outwards at the same time and the flow waste caused by the second target positions and the second paths is avoided, and the data transmission efficiency is improved.
Therefore, in step S200, the following robot can determine the corresponding second path according to the second current position and the second target position as long as the following robot receives the second current position and the second target position of the surrounding target robot.
Step S300: and comparing the first path with the second path, and planning the current path of the following robot according to the second path of the corresponding target robot when the second path meets the following condition.
Illustratively, as shown in fig. 3, a flowchart of a specific implementation of step S300 provided in an embodiment of the present application is provided. The implementation process of the step may specifically include the following steps:
step S310: acquiring the distance between the first current position and the second current position, the length of the second path and the minimum distance from the first path to the second path;
in the implementation process, parameters required for judging the following condition are acquired, wherein the parameters include the distance between the first current position and the second current position, the length of the second path and the minimum distance from the first path to the second path.
Step S320: judging whether the conditions that the distance between the first current position and the second current position is smaller than a first preset threshold value, the length of the second path is larger than a second preset threshold value, the target robot is in front of the following robot and consistent with the motion direction of the following robot, and the minimum distance from the first path to the second path is smaller than a third preset threshold value are met simultaneously;
in the implementation process, if the target robot meets the following condition, the target robot can serve as a followed robot, and the following robot enters a following mode, namely a path is planned through the followed robot.
For example, as shown in fig. 4, for a specific flowchart provided in the embodiment of the present application, when determining whether the condition that the target robot is in front of the following robot and is consistent with the movement direction of the following robot and the minimum distance from the first path to the second path is smaller than a third preset threshold is satisfied, the specific flowchart may specifically be determined according to the following method:
step S321: intercepting a second path segment which takes a second current position as an end point and takes the length as a fourth preset threshold value, and respectively marking the second current position and a waypoint at the tail end of the second path segment as a third waypoint and a fourth waypoint;
step S322: acquiring a first path segment on a first path which is closest to the second path segment, and marking the starting and ending points of the first path segment as a first waypoint and a second waypoint;
step S323: when the vector < the first current position, the vector < the third waypoint >, < the third waypoint, the fourth waypoint > and the vector < the first waypoint, the second waypoint > respectively form an included angle with the advancing direction of the following robot along the first path, which is less than 90 degrees and more than or equal to 0 degree, the target robot is judged to be in front of the following robot and consistent with the motion direction of the following robot;
step S324: and when the distance from the first waypoint to the third waypoint and the distance from the second waypoint to the fourth waypoint are both smaller than a third preset threshold value, judging that the minimum distance from the first path to the second path is smaller than a third preset threshold value.
Illustratively, as shown in fig. 5, a schematic diagram of a first path and a second path provided in the embodiments of the present application is provided. Marking the following robot as A, marking the target robot as B, obtaining a first path PlanA by the following robot, wherein the corresponding waypoints are a1 and a2 … an, obtaining a second path PlanB by the following robot, the corresponding waypoints are B1 and B2 … bm, and the following condition that the following robot A follows the target robot B is as follows:
the Distance between the first current position and the second current position is smaller than a first preset threshold, for example, Distance (a, B) <2m, i.e., the Distance between the following robot a and the target robot B is smaller than 2 meters;
the length of the second path is greater than a second preset threshold, for example, the length of PlanB is greater than 1 m;
intercepting a second path segment which takes a second current position as an end point and has the length of a fourth preset threshold, and respectively marking the second current position and a waypoint at the tail end of the second path segment as a third waypoint and a fourth waypoint, wherein for example, a section of path of PlanB which takes the second current position as the end point is taken, the length of the section of path is 3m, the section of path is the second path segment, the third waypoint corresponding to the second current position is b1, and the fourth waypoint is bx; when the length of the PlanB is less than 3m, taking the whole length of the PlanB as a second path segment;
acquiring a first path segment on a first path which is closest to the second path segment, and marking the starting and ending points of the first path segment as a first waypoint and a second waypoint, wherein in the example, the first waypoint which is closest to the second path segment is the first waypoint ai corresponding to the starting end of the first path segment, and the second waypoint which is corresponding to the terminal end of the first path segment is aj;
when a vector < a first current position, a third waypoint >, a vector < a third waypoint, a fourth waypoint > and a vector < a first waypoint, a second waypoint > respectively form an angle of less than 90 degrees and equal to or greater than 0 degrees with the following robot in the advancing direction of the first path, it is determined that the target robot is in front of the following robot and coincides with the following robot movement direction, for example, when an angle formed by a vector < a1, B1>, < B1, bx >, < ai, aj > and PlanA in the direction in which a1 to an is greater than or equal to 0 degrees and less than 90 degrees, it is obvious that the movement directions of the following robot a and the target robot B coincide and the target robot B is in front of the following robot a;
when the distance from the first waypoint to the third waypoint and the distance from the second waypoint to the fourth waypoint are both smaller than a third preset threshold, judging that the minimum distance from the first path to the second path is smaller than the third preset threshold, for example, the distance from a1 to b1 is di, the distance from aj to bx is dj, and when the values of di and dj are both smaller than a third preset threshold e, it is obvious that the distances between other waypoints in the middle of the first path segment and the second path segment are both smaller than e, and the judgment condition that the minimum distance from the first path to the second path is smaller than the third preset threshold is met;
when the condition is met, the target robot B can be considered to be in front of the following robot A, paths of the target robot B and the following robot A are overlapped, the following robot A can plan own path according to a second path corresponding to the target robot B, and the following mode is switched.
Step S330: if so, planning the current path of the following robot according to the second path.
For example, as shown in fig. 6, a flowchart of a method for planning a current path of a following robot according to a second path of a corresponding target robot provided in an embodiment of the present application may specifically include the following steps:
step S301: periodically receiving a second current position of a followed robot, wherein the followed robot is a target robot corresponding to a second path meeting the following condition;
all target robots in the same network environment share the second current position and the second target position of the target robots regularly and outwards in a broadcast mode, and the second current position and the second target position of the target robots are regularly and outwards broadcast along with the movement of the positions of the target robots so that the following robots (no matter whether the following robots enter a following mode) can judge whether the following conditions are met or not.
Step S302: and switching the second current position to be the current target position of the following robot, and planning the current path of the following robot according to the first current position and the current target position.
And after the following robot enters a following mode, periodically receiving the second current position of the followed robot as the current target position of the following robot, planning a path from the first current position to the current target position, and realizing the following behavior of the front target robot.
Further, when the second paths of the plurality of target robots satisfy the following condition, the target robot closest to the following robot is determined as the followed robot.
For example, if the target robots A, B and C are provided, when B and C both satisfy the following condition, a selects B closest to the target as the following target, and a following mode is formed in which a follows B and B follows C.
As shown in fig. 7, for a specific flowchart provided in the embodiment of the present application after the following robot switches to the following mode, the method further includes:
step S401: periodically receiving a second current position and a second target position of the target robot;
step S402: acquiring a second path of the target robot according to the second current position and a second target position;
step S403: and comparing the first path with the second path, and switching to an autonomous navigation mode when the second path does not meet a following condition.
After the following robot is switched to the following mode, the following robot does not influence the fact that the following robot regularly receives the second current position and the second target position shared by the following robot broadcast, the second current position and the second target position shared by the target robot broadcast are periodic behaviors and are not influenced by the switching of the navigation mode, therefore, after the following robot receives the second current position and the second target position shared by the following robot broadcast, the second path of the following robot is determined according to the second current position and the second target position, the first path is compared with the second path, and whether the second path meets the following condition or not is judged, and when the second path does not meet the following condition, the following robot is switched to the autonomous navigation mode.
In the autonomous navigation mode, surrounding robots are used as moving obstacles, in this case, a rear robot may overtake a front robot, but the rear robot may collide when overtaking the front robot, thereby causing a safety hazard. However, if a single central server is arranged in occasions such as a hotel to uniformly schedule each robot, the implementation cost is high; according to the method, when the following robot is matched with the path of the front target robot, the following mode is switched to, so that the possibility of collision can be effectively reduced, the problems of high cost, high danger, low efficiency and the like caused by the adoption of a central server and an autonomous navigation mode in the existing method are solved, and the purpose of safe and efficient navigation of multiple robots in the scenes of hotels and the like is achieved.
Example 2
An embodiment of the present application further provides a navigation device, as shown in fig. 8, which is a block diagram of the navigation device provided in the embodiment of the present application. The device includes:
a first path obtaining module 100, configured to obtain a first current position where the following robot is located, a first target position, and a first path from the first current position to the first target position;
a second path obtaining module 200, configured to receive a second current position and a second target position of the target robot in the same network environment, and obtain a second path of the target robot according to the second current position and the second target position;
and a following judgment module 300, configured to compare the first path with the second path, and plan the current path of the following robot according to the second path of the corresponding target robot when the second path meets a following condition.
Fig. 9 is a block diagram illustrating a specific structure of a navigation device according to an embodiment of the present application. The apparatus further includes an autonomous navigation switching module 401, configured to compare the first path with the second path, and switch to an autonomous navigation mode when the second path does not satisfy a following condition.
For example, the following determining module 300 includes a following module 310, and the following module 310 includes:
a second current position receiving module 311, configured to periodically receive a second current position of a followed robot, where the followed robot is a target robot corresponding to a second path that meets the following condition;
and a current path planning module 312, configured to switch the second current position to be a current target position of the following robot, and plan a current path of the following robot according to the first current position and the current target position.
Illustratively, the apparatus further includes a route establishment module 210:
the route map building module 211 is configured to build a route map;
a waypoint marking module 212 for marking waypoints in the waypoint map;
a second path establishing module 213, configured to determine a second path of the target robot according to the waypoint between the second current position and the second target position when the second current position and the second target position are received.
For example, the following determining module 300 further includes a following condition determining module 320, which includes:
a parameter obtaining module 321, configured to obtain a distance between the first current location and the second current location, a length of the second path, and a minimum distance from the first path to the second path;
a following condition module 322, configured to determine whether conditions that a distance between the first current position and the second current position is smaller than a first preset threshold, a length of the second path is greater than a second preset threshold, the target robot is in front of the following robot and is consistent with a movement direction of the following robot, and a minimum distance from the first path to the second path is smaller than a third preset threshold are simultaneously met;
and the mode switching module 323 is configured to plan the current path of the following robot according to the second path if the following condition is met.
For example, as shown in fig. 10, a specific structural block diagram of the follow condition module 322 provided in the embodiment of the present application is provided. The follow conditions module 322 includes:
a second path segment obtaining module 3221, configured to intercept a second path segment with a second current position as an endpoint and a length as a fourth preset threshold, and mark the second current position and a waypoint at the end of the second path segment as a third waypoint and a fourth waypoint respectively;
a first path segment obtaining module 3222, configured to obtain a first path segment on the first path closest to the second path segment, and mark a start point and a tail point of the first path segment as a first waypoint and a second waypoint;
a motion direction determining module 3223, configured to determine that the target robot is in front of the following robot and is consistent with the motion direction of the following robot when an included angle between the vector < the first current position, the vector < the third waypoint >, the fourth waypoint > and the vector < the first waypoint, and the second waypoint > and an included angle between the second waypoint > and the advancing direction of the following robot along the first path are smaller than 90 degrees and greater than or equal to 0 degree, respectively;
the distance determining module 3224 is configured to determine that the minimum distance between the first path and the second path is smaller than a third preset threshold when both the distance between the first waypoint and the third waypoint and the distance between the second waypoint and the fourth waypoint are smaller than the third preset threshold.
The device also includes:
and a followed robot judging module 402, configured to determine, when the second paths of the multiple target robots satisfy the following condition, that the target robot closest to the following robot is the followed robot.
Example 3
An embodiment of the present application further provides an electronic device, which includes a memory and a processor, where the memory is used to store a computer program, and the processor runs the computer program to make the computer device execute the navigation method in any one of embodiments 1.
Example 4
An embodiment of the present application further provides a readable storage medium, where computer program instructions are stored, and when the computer program instructions are read and executed by a processor, the navigation method according to any one of embodiments 1 is executed.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Claims (9)
1. A navigation method, comprising:
acquiring a first current position and a first target position where a following robot is located, and acquiring a first path from the first current position to the first target position;
receiving a second current position and a second target position of the target robot in the same network environment, and acquiring a second path of the target robot according to the second current position and the second target position;
comparing the first path with the second path, and when the second path meets a following condition, planning the current path of the following robot according to the second path of the corresponding target robot:
acquiring the distance between the first current position and the second current position, the length of the second path and the minimum distance from the first path to the second path;
judging whether the conditions that the distance between the first current position and the second current position is smaller than a first preset threshold value, the length of the second path is larger than a second preset threshold value, the target robot is in front of the following robot and consistent with the motion direction of the following robot, and the minimum distance from the first path to the second path is smaller than a third preset threshold value are met simultaneously;
if so, planning the current path of the following robot according to the second path.
2. The navigation method according to claim 1, further comprising:
periodically receiving a second current position and a second target position of the target robot;
acquiring a second path of the target robot according to the second current position and a second target position;
and comparing the first path with the second path, and switching to an autonomous navigation mode when the second path does not meet a following condition.
3. The navigation method according to claim 1, wherein the comparing the first path with the second path, and when the second path satisfies a following condition, planning a current path of the following robot according to the second path of the corresponding target robot includes:
periodically receiving a second current position of a followed robot, wherein the followed robot is a target robot corresponding to a second path meeting the following condition;
and switching the second current position to be the current target position of the following robot, and planning the current path of the following robot according to the first current position and the current target position.
4. The navigation method according to claim 1, wherein before the step of receiving a second current position and a second target position of the target robot in the same network environment and acquiring the second path of the target robot based on the second current position and the second target position, the method further comprises:
establishing an airway map;
marking waypoints in the route map;
when the second current position and the second target position are received, a second path of the target robot is determined according to the waypoint between the second current position and the second target position.
5. The navigation method according to claim 1, wherein the determining whether the conditions that the target robot is in front of the following robot and is consistent with the following robot moving direction and the minimum distance from the first path to the second path is less than a third preset threshold value are met comprises:
intercepting a second path segment which takes a second current position as an end point and takes the length as a fourth preset threshold value, and respectively marking the second current position and a waypoint at the tail end of the second path segment as a third waypoint and a fourth waypoint;
acquiring a first path segment on a first path which is closest to the second path segment, and marking the starting and ending points of the first path segment as a first waypoint and a second waypoint;
when the vector < the first current position, the vector < the third waypoint >, < the third waypoint, the fourth waypoint > and the vector < the first waypoint, the second waypoint > respectively form an included angle with the advancing direction of the following robot along the first path, which is less than 90 degrees and more than or equal to 0 degree, the target robot is judged to be in front of the following robot and consistent with the motion direction of the following robot;
and when the distance from the first waypoint to the third waypoint and the distance from the second waypoint to the fourth waypoint are both smaller than a third preset threshold value, judging that the minimum distance from the first path to the second path is smaller than a third preset threshold value.
6. The navigation method according to claim 1, wherein the comparing the first path with the second path, and when the second path satisfies a following condition, planning a current path of the following robot according to the second path of the corresponding target robot, further comprises:
and when the second paths of the plurality of target robots meet the following conditions, determining the target robot closest to the following robot as the followed robot.
7. A navigation device, characterized in that the device comprises:
the first path acquisition module is used for acquiring a first current position and a first target position where the following robot is located and acquiring a first path from the first current position to the first target position;
the second path acquisition module is used for receiving a second current position and a second target position of the target robot in the same network environment and acquiring a second path of the target robot according to the second current position and the second target position;
the following judgment module is used for comparing the first path with the second path, and planning the current path of the following robot according to the second path of the corresponding target robot when the second path meets the following condition;
the following judgment module comprises:
a parameter obtaining module, configured to obtain a distance between the first current location and the second current location, a length of the second path, and a minimum distance from the first path to the second path;
the following condition module is used for judging whether the conditions that the distance between the first current position and the second current position is smaller than a first preset threshold value, the length of the second path is larger than a second preset threshold value, the target robot is in front of the following robot and consistent with the motion direction of the following robot, and the minimum distance from the first path to the second path is smaller than a third preset threshold value are met at the same time;
and the mode switching module is used for planning the current path of the following robot according to the second path if the following condition is met.
8. An electronic device, characterized in that the electronic device comprises a memory for storing a computer program and a processor for executing the computer program to cause the electronic device to perform the navigation method according to any one of claims 1 to 6.
9. A readable storage medium having stored therein computer program instructions which, when read and executed by a processor, perform the navigation method of any one of claims 1 to 6.
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| CN111982094B (en) * | 2020-08-25 | 2022-06-07 | 北京京东乾石科技有限公司 | Navigation method, device and system thereof and mobile equipment |
| CN111941431B (en) * | 2020-09-04 | 2022-03-08 | 上海木木聚枞机器人科技有限公司 | Automatic following method and system for hospital logistics robot and storage medium |
| CN113467449B (en) * | 2021-06-30 | 2023-05-30 | 深圳市海柔创新科技有限公司 | Motorcade control method, motorcade control device, electronic equipment and storage medium |
| CN113910224B (en) * | 2021-09-30 | 2023-07-21 | 达闼科技（北京）有限公司 | Robot following method and device and electronic equipment |
| CN113959432B (en) * | 2021-10-20 | 2024-05-17 | 上海擎朗智能科技有限公司 | Method, device and storage medium for determining following path of mobile equipment |
| CN114518115B (en) * | 2022-02-17 | 2023-10-27 | 安徽理工大学 | Navigation system based on big data deep learning |
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